여유자유도를 가진 3-SPS/S 병렬 메커니즘의 등각 기하대수를 이용한 기하학적 특이점 회피Geometric Singularity Avoidance of a 3-SPS/S Parallel Mechanism with Redundancy using Conformal Geometric Algebra
- Other Titles
- Geometric Singularity Avoidance of a 3-SPS/S Parallel Mechanism with Redundancy using Conformal Geometric Algebra
- Authors
- 김재석; 박장현; 정진한
- Issue Date
- 2015
- Publisher
- 한국정밀공학회
- Keywords
- Inverse kinematics (역기구학); Geometric singularity (기하학적 특이점); 3-SPS/S parallel mechanism (3-SPS/S 병렬 메커니즘); Redundancy (여유자유도); Conformal geometric algebra (등각기하대수)
- Citation
- 한국정밀공학회지, v.32, no.3, pp.253 - 261
- Indexed
- KCI
- Journal Title
- 한국정밀공학회지
- Volume
- 32
- Number
- 3
- Start Page
- 253
- End Page
- 261
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/158267
- ISSN
- 1225-9071
- Abstract
- A parallel mechanism with redundancy can be regarded as a means for not only maximizing the benefits of parallel mechanisms but also overcoming their drawbacks. We proposed a novel parallel mechanism by eliminating an unnecessary degree of freedom of the configuration space. Because of redundancy, however, the solution for the inverse kinematics of the developed parallel mechanism is infinite. Therefore, we defined a cost function that can minimize the movement time to the target orientation and found the solution for the inverse kinematics by using a numerical method. In addition, we proposed a method for determining the boundary of the geometric singularity in order to avoid singularities.
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